Device for determining the 3D coordinates of an object, in particular of a tooth

Abstract

A scanner is used for scanning an object, in particular one or more teeth ( 13, 14, 15 ) or a dental cast. An improved scanner comprises a carrier ( 2 ) on which a plurality of projectors ( 4 ) for projecting a pattern onto the object and a plurality of cameras ( 5 ) for recording the object are provided one beside the other in an array.

The invention claimed is: 
     
       1. A scanner for scanning one or more teeth ( 13 ,  14 ,  15 ) in a mouth of a patient, comprising:
 a handle part ( 3 ); and 
 a carrier ( 2 ) attached to the end of the handle part, the carrier including:
 a plurality of projectors ( 4 ) for projecting a pattern onto the one or more teeth, each projector including:
 a light source ( 6 ); 
 a mask ( 7 ); and 
 a projector optics ( 8 ), and 
 
 a plurality of cameras ( 5 ) for recording the one or more teeth are provided in an array, each camera including: 
 an image sensor ( 9 ); and 
 a camera optics ( 10 ), 
 
 wherein all of the projector optics ( 8 ) and all of the camera optics ( 10 ) are combined to and positioned on one system optics ( 11 ), the system optics ( 11 ) being formed of one piece; and 
 wherein the projector optics ( 8 ) do not overlap with each other on the system optics ( 11 ), and the camera optics ( 10 ) do not overlap with each other on the system optics ( 11 ). 
 
     
     
       2. The scanner according to  claim 1 , wherein the projectors ( 4 ) and cameras ( 5 ) are provided on the carrier ( 2 ) in a two-dimensional arrangement. 
     
     
       3. The scanner according to  claim 2 , wherein the projectors ( 4 ) and the cameras ( 5 ) are alternately arranged on the carrier ( 2 ). 
     
     
       4. The scanner according to  claim 3 , wherein the projectors ( 4 ) each comprise a light source ( 6 ), a mask ( 7 ) and a projector optics ( 8 ). 
     
     
       5. The scanner according to  claim 4 , wherein the mask ( 7 ) and the projector optics ( 8 ) form a composite unit. 
     
     
       6. The scanner according to  claim 2 , wherein the mask ( 7 ) and the projector optics ( 8 ) form a composite unit. 
     
     
       7. The scanner according to  claim 1 , wherein the projectors ( 4 ) and the cameras ( 5 ) are alternately arranged on the carrier ( 2 ). 
     
     
       8. The scanner according to  claim 7 , wherein the mask ( 7 ) and the projector optics ( 8 ) form a composite unit. 
     
     
       9. The scanner according to  claim 7 , wherein the projectors each comprise a pattern projector and a projector optics. 
     
     
       10. The scanner according to  claim 1 , wherein the mask ( 7 ) and the projector optics ( 8 ) form a composite unit. 
     
     
       11. The scanner according to  claim 1 , wherein the projectors each comprise a pattern projector and a projector optics. 
     
     
       12. The scanner according to  claim 1 , wherein the carrier ( 2 ′) has angled regions ( 18 ). 
     
     
       13. The scanner according to  claim 1 , wherein the carrier ( 2 ,  2 ′) has the shape of a dental arc. 
     
     
       14. A device for determining the 3D coordinates of one or more teeth ( 13 ,  14 ,  15 ) in a mouth of a patient, comprising:
 a scanner ( 1 ) for scanning an object, the scanner including:
 a handle part ( 3 ); and 
 a carrier ( 2 ) attached to the end of the handle part, the carrier including:
 a plurality of projectors ( 4 ) for projecting a pattern onto the one or more teeth, each projector including:
 a light source ( 6 ); 
 a mask ( 7 ); and 
 a projector optics ( 8 ), and 
 
 a plurality of cameras ( 5 ) for recording the one or more teeth are provided in an array, each camera including: 
 an image sensor ( 9 ); and 
 a camera optics ( 10 ); and 
 
 
 a computer to determine the 3D coordinates of the object from the images recorded by the scanner, 
 wherein all of the projector optics ( 8 ) and all of the camera optics ( 10 ) are combined to and positioned on one system optics ( 11 ), the system optics ( 11 ) being formed of one piece; and 
 wherein the projector optics ( 8 ) do not overlap with each other on the system optics ( 11 ), and the camera optics ( 10 ) do not overlap with each other on the system optics ( 11 ). 
 
     
     
       15. The device according to  claim 14 , comprising a tracking system for determining the location and orientation of the scanner ( 1 ).